(i) The Lyapunov function is selected for the formation control problem and target tracking of second-order nonlinear multi-agent systems. To the best of the authors' knowledge, this paper is the first contribution proposing a distance-based formation for nonlinear multi-agent systems with state time-delay and disturbance. Compared with existing methods in [1]}, [2]}, the dynamics of the system is not limited to a first-order nonlinear systems.
